Safe navigation of a mobile robot considering visibility of environment

Woojin Chung, Seokgyu Kim, Minki Choi, Jaesik Choi, Hoyeon Kim, Chang Bae Moon, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

68 Citations (Scopus)


We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only "visible"ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid collisions, it is desirable to exploit visibility information. This paper proposes a safe navigation scheme to reduce collision risk considering occluded dynamic obstacles. The robot's motion is controlled by the hybrid control scheme. The possibility of collision is dually reflected to path planning and speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The experimental results show that the robot moves along the safe path to obtain sufficient field of view. In addition, safe speed constraints are applied in motion control. It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme.

Original languageEnglish
Pages (from-to)3941-3950
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number10
Publication statusPublished - 2009


  • Mobile robot navigation
  • Obstacle avoidance
  • Path planning
  • Speed control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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